Most newer cars require little or no added lubrications for the suspension, steering linkage or drive train. Most older cars require this as a maintenance item. This is accomplished by using a grease gun. Most grease guns are hand held metal pump-like devices that a tube of grease is inserted into, then a handle is "pumped" to force the grease out through a hose or nozzle.

On the car there are fittings called "grease zerks" Here is what they look like.
http://www.fittingsandadapters.com/greaszerfit.html
Most cars will have grease zerks at several points on the front suspension pieces, on the steering linkage and on the drive shaft universal joints. Your owners or shop manual may have a diagram off all of these points.
After locating the grease zerks, it is important to wipe them off to avoid forcing any dirt into the joint. In order to grease the area, you place the end of the grease gun firmly on the grease zerk and pump the handle till you see grease ooze out. This ensures there is fresh grease in the joint. On classic cars I would suggest doing this at lease once a year, maybe more on a daily driver. Again consult your owners or shop manual for suggested maintenance schedule.
Please reply with any comments or corrections
-James